安徽工程大学学报2012，Vol.27Issue(4)：21-24,4.
四自由度柔性关节机械臂的动力学分析
Modeling and simulation of 4-DOF manipulators with flexible joints
夏小品 1王海2
作者信息
- 1. 安徽工程大学机械与汽车工程学院,安徽芜湖241000
- 2. 安徽工程大学先进数控和伺服驱动技术安徽省重点实验室,安徽芜湖241000
- 折叠
摘要
Abstract
Joint is the key part of manipulators, which plays an important role in the dynamic. A precise joint dynamic model is the basis of design, analysis and control of manipulators. For the four-DOF manipulator the paper firstly gives a simplified model of the flexible joint manipulator,and then elaborates the joint flexibility and electrical characteristics, derivation of dynamic equations using the method of Lagrange.关键词
柔性关节/四自由度/动力学/拉格朗日方程Key words
flexible joints/4-DOF/dynamics/Lagrange equation分类
信息技术与安全科学引用本文复制引用
夏小品,王海..四自由度柔性关节机械臂的动力学分析[J].安徽工程大学学报,2012,27(4):21-24,4.
